She died in Johannesburg on Monday morning aged 59.
The death has been confirmed by a family source, SABC reports.
She was the South African ambassador to Denmark at the time of her death. The cause of her death was not immediately revealed.
“The 59-year-old daughter of former president Nelson Mandela and struggle stalwart Winnie Madikizela-Mandela, passed away at a Johannesburg hospital in the early hours of this morning,” said SABC.
She was Nelson Mandela’s sixth child and his second with Winnie Madikizela-Mandela.